Announcing the news, Mr Tindall described his weekend as “crazy”.
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He said: “Saturday, loved all the rugby…I was actually genuinely angry after the England game.”
The father-of-three added: “And then Sunday got even better because a little baby boy arrived at my house.”
He said his son was born on the bathroom floor as the couple were unable to make it to hospital on time.
Mike said: “Arrived very quickly. Didn’t make it to the hospital. On the bathroom floor.”
The rugby player discussed how his son was born around 6pm and he had to rush to get a mat for his wife.
He said: “So yeah, it was running to the gym, get a mat, get into the bathroom, get the mat on the floor, towels down, brace, brace, brace.”
Royal Family tree: Where does Zara Tindall’s baby fall in the line of succession?
Royal Family tree: Zara Tindall gave birth to a baby boy on Sunday, March 21
A spokeswoman for the couple said: “Zara and Mike Tindall are happy to announce the birth of their third child, Lucas Philip Tindall.”
The baby is the Queen and Prince Philip’s 10th great-grandchild, born just weeks after Princess Eugenie’s son August Philip Hawke Brooksbank.
The bouncing baby boy was born on Sunday, weighing 8lbs 4oz.
Lucas is the third child to be welcomed into the Tindall family.
Royal Family tree: The Tindalls have two daughters already
The Tindall couple has two daughters, Mia, aged seven, and Lena, aged two.
The two children were elsewhere for the night because Zara had been having contractions throughout the night.
A Buckingham Palace spokesman said: “The Queen and The Duke of Edinburgh are delighted with the news and look forward to meeting their 10th Great Grandchild when circumstances allow.”
The couple gave their baby boy the middle name Philip in honour of both Mr Tindall’s father as well as Zara’s grandfather the Duke of Edinburgh.
Lucas is a great-grandchild of the Queen but does not have an official title.
He is Master Tindall and is not an HRH due to rules of primogeniture and the letters patent which prevents great-grandchildren from taking on the HRH title.
The 1917 letter outlined how great-grandchildren of the monarch would no longer be princes or princesses, except for the eldest son of the eldest son of the Prince of Wales.
Being a prince or princess only goes through the male line, which means Princess Anne’s children were not automatically entitled to prince or princess titles despite being the Queen’s grandchildren.
Where does Zara Tindall’s baby fall in the line of succession?
Zara Tindall’s son is the second royal to see the 2011 change in the laws of succession in action.
Under old succession laws pre-2011, the heir to the throne was always the first-born son of the monarch.
This means any daughter would rank below her older and younger brothers in the line of succession.
In practice, this led to Princess Anne ranking below all her brothers in the line of succession.
Princess Charlotte was the first royal to benefit from this law change.
She is now fourth in line to the throne while her younger brother Prince Louis is fifth in line to the throne.
Lucas is 22nd in line to the throne, behind his sister’s who are 20th and 21st respectively.
If the laws had not been changed in 2011, he would have moved ahead of his sisters in the line of succession and been in the 20th spot.
Source: EXPRESS CO UK